EP2818285A1 - Ausleger zur Verwendung in einem geometrischen Endeffektorsystem - Google Patents
Ausleger zur Verwendung in einem geometrischen Endeffektorsystem Download PDFInfo
- Publication number
- EP2818285A1 EP2818285A1 EP14174630.5A EP14174630A EP2818285A1 EP 2818285 A1 EP2818285 A1 EP 2818285A1 EP 14174630 A EP14174630 A EP 14174630A EP 2818285 A1 EP2818285 A1 EP 2818285A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- boom
- end effector
- carbon fiber
- anchor mount
- feedback mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
- B25J9/0012—Constructional details, e.g. manipulator supports, bases making use of synthetic construction materials, e.g. plastics, composites
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
- B25J15/0061—Gripping heads and other end effectors multiple gripper units or multiple end effectors mounted on a modular gripping structure
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
Definitions
- the present disclosure relates to geometric end effector systems used on a robot and, more particularly, to a boom end effector that has integral sensing technology.
- End effectors for use in assembly systems have been known in the prior art for many years.
- devices are used for holding and placing components and parts in a specified place so that a manufacturing, finishing or other intermediate step can be performed on the product being assembled or worked upon.
- These automated assembly systems generally employ many robots that minimize or eliminate the need for manual intervention, thus reducing the cost to the manufacturer of the labor and parts involved.
- the components used and made in such automated systems are typically made or moved by a robot via an arm or wrist all of which are well known methods in the prior art. Some of these methods may include having an end effector attached to the end of a robot arm and acquires a particular part.
- the end effector then either releases the part during the work or holds the part steady in a pre-specified position during the actual operation on the part.
- Other methods include using the robot arm or wrist to hold a tool to actually perform work on a part that is being held by other robots or other components in predetermined positions.
- the present disclosure provides the art with such a device.
- the present disclosure provides electric feedback as to the status of the jig, fixture or end effector built into the system.
- the boom enables jigs, fixtures or end effectors to become an add-on system capable of processing whether or not the operations are being conducted satisfactorily or if the operation is not normal.
- a boom comprises a cylindrical body including a coupling flange at each end.
- the body is manufactured from a carbon fiber material.
- an electronic feedback mechanism is embedded into the carbon fiber.
- the electronic feedback mechanism may be a simple electronic strain gauge.
- the feedback mechanism may include a fiber optic cable woven into the carbon fiber weave.
- a geometric end effector system comprises a platform with a frame secured to the platform.
- a plurality of bases is arranged at predetermined positions on the frame.
- An anchor mount is secured to at least one of the bases.
- a component connects to the anchor mount.
- the component includes a boom.
- the boom includes a cylindrical body including a coupling flange at each end.
- the body is manufactured from a carbon fiber material.
- an electronic feedback mechanism is embedded into the carbon fiber.
- the electronic feedback mechanism may be a simple electronic strain gauge.
- the feedback mechanism may include a fiber optic cable woven into the carbon fiber weave.
- FIGS. 1 through 5 show one contemplated embodiment of the geometric end effector system 10 according to the present invention.
- the end effector system 10 includes a platform 12 that is preferably made of steel, however it should be noted that any other type of metal, plastic, ceramic, or composite may be used for the platform 12.
- the platform 12 will have a variety of orifices therethrough to mate with any of the known robotic arms, robotic wrists or the like.
- the platform 12 may be of any known shape, such as a plate with the orifices therethrough, a circular, square, triangular, or any other shaped plate or any other type of platform known to connect to the end of a robot.
- the platform 12 is attached by any known fastening technique, i.e., chemical, mechanical or the like to a frame 14 which is preferably made of a steel material.
- the frame 14 may be made of any other known material such as any other known metal, plastic, ceramic, composite, natural material or the like.
- the frame 14 may have any known shape. The shape will depend on the environment in which the robotic cell will be used.
- the frame 14 will allow for a plurality of components to be connected thereto such that one robot arm may perform several functions or hold complex geometric parts for operations thereon or movement between stations in a manufacturing environment.
- Each frame 14 will have a plurality of base members 16 secured thereto.
- the base members 16 are secured to the frame 14 by any known mechanical or chemical bonding technique such as welding, fastening or the like.
- Each of the base members 16 will have a plurality of orifices 18 arranged at predetermined positions thereon. In the embodiment shown the orifices 18 are arranged along near or at each end thereof. Some of the orifices 18 may be threaded while some of the orifices may not be threaded. However, in some embodiments all orifices 18 may be threaded and in some other embodiments none of the orifices 18 are threaded.
- the base 16 generally has a rectangular shape with a predetermined thickness.
- three orifices 18 are arranged at or near each end of the base 16. It should be noted that any known shape can be used for the base members 16 depending on the design requirements and space available for the base members 16 on the frame 14.
- the base members 16 are generally made of a steel material, however it should be noted that any other metal, plastic, ceramic, composite or the like may be used for the base members 16 depending on the robotic cell and the environment such robot will be used in.
- the anchor mount 20 Secured to the base member 16 is an anchor mount 20. It should be noted that the anchor mount 20 may be secured to all base members 16 on a robot end effector system frame 14 or on just selected base members 16 depending on the components to be connected to the frame 14 of the robot end effector system 10.
- the anchor mount 20 generally has a base 22 that mimics the shape of the base member 16.
- the anchor mount base 22 in the present embodiment generally has a rectangular shape with a predetermined thickness.
- a plurality of orifices 24 are arranged through the thickness of the anchor mount base 22 to align with and mate with the orifices 18 in the frame base member 16.
- a cylindrically shaped member 26 Extending from generally a midpoint of the anchor mount base 22 on one side thereof is a cylindrically shaped member 26 extending therefrom.
- the cylindrical member 26 is fastened to the face of the anchor mount base 22 via any known fastening technique, such as welding or the like, or it is also contemplated to have cylindrical member 26 cast with the base 22 as one member, or made as an extrusion or machined.
- a circumferential coupling flange 28 Arranged at an end of the cylindrical member 26 is a circumferential coupling flange 28.
- the flange 28 has a predetermined diameter with a predetermined sized bore or orifice through a midpoint thereof.
- a plurality of slots 30 are arranged on the end face of the coupling flange 28. The slots 30 extend a predetermined distance into the face of the flange 28.
- the slots 30 are arranged on the face such that any number of degrees are located between the slots 30. In the embodiment shown four slots 30 are positioned within the face of the flange 28. The slots 30 are arranged at 90° intervals around the ring like face of the flange 28.
- the anchor mount 20 is designed such that a breakaway point 32 occurs generally to where the flange 28 and cylindrical member 26 intersect. This intersectional point 32 between the flange 28 and cylindrical member 26 may be designed by either increasing or decreasing the thickness of the material used at the breakaway point 32 for the anchor mount 20. The reduction of material will create a breakaway point 32 that will fail at a lower force than that of a breakaway point 32 that has a thicker material cross section therethrough.
- breakaway point 32 Other methods of creating a breakaway point 32 are also contemplated such as scoring the intersection between the flange 28 and cylindrical member 26, pre-stressing, placing a plurality of notches there along, arranging a plurality of orifices therearound, using a different material, or any other contemplated and known method of creating a breakaway point 32 that will fail at a particular lower force in comparison to other components connected to the anchor mount 20 and within the end effector system 10.
- the breakaway point 32 will create a specific point at which a predetermined force will break the anchor mount 20 in relation to all other components connected to the anchor mount 20 between the robot and the components being held by the end effector system 10.
- a boom 36 and/or junction member 38 may be secured to the anchor mount 20 via a collar assembly 40.
- the boom 36 which generally has a cylindrical shape with a bore through an entire longitudinal length thereof.
- the boom 36 will include a generally circular coupling flange 42 on both ends thereof.
- the boom 36 can be of any length or incremental length needed within the end effector system 10.
- the boom 36 will also include a plurality of orifices 44 prearranged at predetermined positions such that accessories may be mounted to the boom 36 or the booms 36 may be connected to components connected thereto or to an anchor mount 20 via a safety harness or the like.
- the orifices 44 are predetermined size and arranged at predetermined intervals along the boom 36 depending on the design requirements and the components being held.
- the coupling flange 42 located at each end of the boom 36 have a plurality of slots 46 therein to align with the slots 30 on the anchor mount 20, other junction members 38 or any other components.
- the slots 46 will have the same positioning around the end of the flange 42 and will have the same predetermined depth as that of the anchor mount flange 28.
- the boom 36 may have a predetermined thickness thus creating a part that will be able to absorb forces greater than that at the breakaway point 32 of the anchor mount 20.
- the junction members 38 generally will have at least one circumferential coupling flange 42 thereon but may have any number of coupling flanges 42 and faces thereon such as two face junction members, three face, four face, five face, or the like. These junction members 38 may allow for a connection to the anchor mount 20 at various angles, or with other various components connected thereto.
- Each of the faces of the junction members 38 will include a generally circumferential coupling flange 42 having slots 46 that are arranged in the same manner as those discussed for the anchor mount flange 28.
- Other edge accessory members 48 may also be connected to or used as an end member which connects to a clamp or other component being held by the end effector system 10.
- the edge accessory members 48 will have one circumferential coupling flange 42 arranged thereon but more than one may also be used.
- the flange 42 will include the same slots 46 arranged at the same intervals as those for the anchor mount flange 28.
- the edge accessory components 48 will be capable of holding parts at predetermined angles and/or straight as shown in FIG. 1 .
- the boom 36, junction members 38, edge accessory members 48, other components and anchor mounts 20 are all interconnected with each other and fastened to one another in a multitude of combinations.
- the connections are created via a collar assembly 40.
- the collar assembly 40 includes a first and second collar member 50 and a cross key 52.
- the cross key 52 generally has an X-shape with a predetermined thickness.
- the predetermined thickness will be such that approximately half of the cross key 52 will extend into a slot 30, 46 on any of the coupling flanges 28, 42 while the other half of the cross key 52 will extend into an adjacent coupling flange 28, 42 of the other component being connected thereto
- the cross key 52 is arranged within all four of the slots 30, 46 and thus will secure the components being connected to one another such that no rotation can occur between the components after they are secured to one another with the collar assembly 40.
- the body 60 of the boom 36 is manufactured from a carbon fiber material 62. Additionally, any type of fiber reinforced material may be utilized.
- a feedback sensing element 70 is molded into the fiber reinforced material 62.
- the sensing element 70 may be an electric strain gauge, fiber optic cable 74 or the like.
- the sensing feedback device 70 provides accurate real time information of what is occurring at the jig 76, fixture 78, or end effector 80. This sensing feedback device 70 provides stress and strain of the boom 36 that indicates the deflection and force on the jig, fixture or end effector. This real time determination helps to improve the control of the system 10.
- the fiber reinforced boom 36 enables the jigs, fixtures or end effectors to become add-on systems that determine the process and whether or not the operation are functioning satisfactory or if they are out of control.
- a plurality of wires 72 are connected with the sensing feedback device 70.
- the wires 72 are coupled with the controller (not shown).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361840135P | 2013-06-27 | 2013-06-27 | |
US14/299,297 US9884426B2 (en) | 2013-06-27 | 2014-06-09 | Boom utilized in a geometric end effector system |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2818285A1 true EP2818285A1 (de) | 2014-12-31 |
Family
ID=51210983
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP14174630.5A Withdrawn EP2818285A1 (de) | 2013-06-27 | 2014-06-27 | Ausleger zur Verwendung in einem geometrischen Endeffektorsystem |
Country Status (4)
Country | Link |
---|---|
US (1) | US9884426B2 (de) |
EP (1) | EP2818285A1 (de) |
CA (1) | CA2855036C (de) |
MX (1) | MX2014007763A (de) |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10063030C1 (de) * | 2000-12-18 | 2002-09-05 | Fraunhofer Ges Forschung | Roboterarm |
JP2009160685A (ja) * | 2008-01-04 | 2009-07-23 | Nippon Oil Corp | Cfrp製搬送用部材及びそれを用いたロボットハンド |
US20090248038A1 (en) * | 2008-03-31 | 2009-10-01 | Intuitive Surgical Inc., A Delaware Corporation | Force and torque sensing in a surgical robot setup arm |
US7609020B2 (en) | 2006-07-11 | 2009-10-27 | Delaware Capital Formation, Inc. | Geometric end effector system |
EP2116339A1 (de) * | 2008-04-10 | 2009-11-11 | Murata Machinery, Ltd. | Parallelmechanismus |
DE202009008994U1 (de) * | 2009-06-29 | 2010-11-18 | Kuka Systems Gmbh | Gerüstkonstruktion |
Family Cites Families (18)
Publication number | Priority date | Publication date | Assignee | Title |
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US4503416A (en) | 1982-12-13 | 1985-03-05 | General Electric Company | Graphite fiber tactile sensor |
DE19814630B4 (de) | 1998-03-26 | 2011-09-29 | Carl Zeiss | Verfahren und Vorrichtung zum handgesteuerten Führen eines Werkzeuges in einem vorgegebenen Bewegungsbereich |
EP1168463A1 (de) | 2000-06-23 | 2002-01-02 | DORNIER GmbH | Faserverbundwerkstoff mit darin integriertem piezoelektrischem Sensor oder Aktor |
US6815037B2 (en) | 2001-09-19 | 2004-11-09 | Nippon Mitsubishi Oil Corporation | Carrier member made of a UV resistant fiber-reinforced composite material and process for producing thereof |
AU2002361894A1 (en) | 2002-07-29 | 2004-02-16 | E. I. Du Pont De Nemours And Company | Carbon fiber composite transfer member with reflective surfaces |
DE10304019A1 (de) | 2003-02-01 | 2004-11-04 | Kuka Roboter Gmbh | Verfahren zum Überwachen einer Maschine und derartige Maschine, insbesondere Roboter |
US8496647B2 (en) | 2007-12-18 | 2013-07-30 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
JP2007007762A (ja) | 2005-06-29 | 2007-01-18 | Honda Motor Co Ltd | 多関節ロボットの関節部監視装置 |
DE602005017894D1 (de) | 2005-09-16 | 2010-01-07 | Abb Ab | Industrieroboter mit Sensormitteln im Bereich eines Werkzeugflansches |
EP1927440A1 (de) | 2006-11-30 | 2008-06-04 | Abb Research Ltd. | Verfahren und Vorrichtung zur Zustandsüberwachung eines Industrieroboters |
EP1932629B1 (de) | 2006-12-11 | 2019-04-24 | ABB Research Ltd. | Verfahren und Steuersystem zur Überwachung des Zustands eines Industrieroboters |
EP1955830B1 (de) | 2007-02-06 | 2014-04-09 | Abb Research Ltd. | Verfahren und Steuersystem zur Überwachung des Zustands eines Industrieroboters |
US20080247857A1 (en) | 2007-04-05 | 2008-10-09 | Ichiro Yuasa | End effector and robot for transporting substrate |
WO2009034477A2 (en) * | 2007-04-16 | 2009-03-19 | The Governors Of The University Of Calgary | Frame mapping and force feedback methods, devices and systems |
EP2214577A4 (de) * | 2007-11-01 | 2012-12-19 | Univ Utah Res Found | Integriertes chirurgisches schneidsystem |
DE102007063099A1 (de) | 2007-12-28 | 2009-07-02 | Kuka Roboter Gmbh | Roboter und Verfahren zum Überwachen der Momente an einem solchen |
JP5353500B2 (ja) | 2009-07-08 | 2013-11-27 | 株式会社安川電機 | ロボット |
US8679125B2 (en) * | 2010-09-22 | 2014-03-25 | Biomet Manufacturing, Llc | Robotic guided femoral head reshaping |
-
2014
- 2014-06-09 US US14/299,297 patent/US9884426B2/en active Active
- 2014-06-24 MX MX2014007763A patent/MX2014007763A/es not_active Application Discontinuation
- 2014-06-25 CA CA2855036A patent/CA2855036C/en active Active
- 2014-06-27 EP EP14174630.5A patent/EP2818285A1/de not_active Withdrawn
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10063030C1 (de) * | 2000-12-18 | 2002-09-05 | Fraunhofer Ges Forschung | Roboterarm |
US7609020B2 (en) | 2006-07-11 | 2009-10-27 | Delaware Capital Formation, Inc. | Geometric end effector system |
US7940023B2 (en) | 2006-07-11 | 2011-05-10 | Delaware Capital Formation, Inc. | Geometric end effector system |
JP2009160685A (ja) * | 2008-01-04 | 2009-07-23 | Nippon Oil Corp | Cfrp製搬送用部材及びそれを用いたロボットハンド |
US20090248038A1 (en) * | 2008-03-31 | 2009-10-01 | Intuitive Surgical Inc., A Delaware Corporation | Force and torque sensing in a surgical robot setup arm |
EP2116339A1 (de) * | 2008-04-10 | 2009-11-11 | Murata Machinery, Ltd. | Parallelmechanismus |
DE202009008994U1 (de) * | 2009-06-29 | 2010-11-18 | Kuka Systems Gmbh | Gerüstkonstruktion |
Non-Patent Citations (1)
Title |
---|
"EOAT Interactive Tooling Catalog v1.5", 25 April 2013 (2013-04-25), XP055148957, Retrieved from the Internet <URL:http://www.norgren.com/automationsolutions/downloads/download/23/robot_end_of_arm_tooling_eoat_interactive_catalog> [retrieved on 20141027] * |
Also Published As
Publication number | Publication date |
---|---|
US20150003947A1 (en) | 2015-01-01 |
CA2855036A1 (en) | 2014-12-27 |
MX2014007763A (es) | 2015-06-22 |
US9884426B2 (en) | 2018-02-06 |
CA2855036C (en) | 2021-08-10 |
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